湖北汽车工业学院学报2025，Vol.39Issue(1)：23-27,5.DOI:10.3969/j.issn.1008-5483.2025.01.005
量子优化分数阶PID的四旋翼无人机姿态控制
Attitude Control of Quadcopter UAV Using Quantum-optimized Fractional-order PID
摘要
Abstract
In response to the issues of model uncertainty and low control precision in the attitude con-trol of quadrotor unmanned aerial vehicle(UAV),an attitude controller using quantum-optimized frac-tional-order PID was designed.The fractional-order theory was applied to the traditional PID control al-gorithm,expanding the control range by increasing the orders of integration and differentiation.To en-hance the tuning efficiency of control parameters,an improved quantum genetic algorithm was used to tune the fractional-order PID control parameters.The golden sine strategy was introduced to strengthen the global exploration and local exploitation capabilities of the optimized algorithm.The simulation re-sults show that compared to traditional methods,the designed controller has superior response speed and control precision.关键词
量子理论/黄金正弦/分数阶PID/姿态控制/四旋翼无人机Key words
quantum theory/golden sine/fractional-order PID/attitude control/quadrotor UAV分类
计算机与自动化引用本文复制引用
叶子恒,徐龙艳,黄利明,赵逸凡,席茂,何仔涵..量子优化分数阶PID的四旋翼无人机姿态控制[J].湖北汽车工业学院学报,2025,39(1):23-27,5.基金项目
湖北省教育厅科学技术研究计划项目(D202111802) （D202111802）
湖北省重点研发计划项目(2022BEC008) （2022BEC008）
